Surgical instrument with magnetic sensing

Abstract

A sensor array may detect a position of a magnetic element. The sensor array may include a printed circuit board and a plurality of sensors. The printed circuit board is configured to rotate about an axis of rotation and relative to the magnetic element. The plurality of sensors are disposed circumferentially about the axis of rotation and coupled to the printed circuit board. At least one sensor is disposed at a selected circumferential position relative to the axis of rotation. The sensor is configured to change between an open state and a closed state in response to a change in position of the magnetic element relative to the axis of rotation.

Description

[0001] priority This application claims the benefit of U.S. Patent Application No. 18 / 320,025, filed May 18, 2023, entitled “Surgical Instrument with Magnetic Sensing,” the disclosure of which is incorporated herein by reference. Technical Field

[0002] The systems and methods disclosed herein relate to surgical instruments, and more specifically to magnetic input sensing for surgical instruments. Background Technology

[0003] Minimally invasive surgery allows access to target sites within a patient's body with minimal trauma. Medical robotic systems can provide a mechanism through which one or more robotic arms are used to perform surgical procedures. For example, laparoscopic surgery allows the procedure to enter a patient's body cavity through a small incision in the abdomen.

[0004] In some applications, certain conventional laparoscopes used with robotic systems may include interaction devices, such as tool drive adapters, to connect the laparoscope to the robotic system and allow the robotic system to control the operation of the laparoscope. In some applications, the tool drive adapter may connect to the robotic system and allow the laparoscope's instrument axis to pass through and rotate relative to the tool drive assembly. In some applications, certain electronics may be sealed, isolated, or otherwise disposed within the instrument axis to allow for the sterilization of the laparoscope.

[0005] In some applications, certain conventional laparoscopes may include a separate user interaction device to allow clinicians to control the operation or function of the laparoscope or robotic system. This user interaction device may include one or more buttons or other elements that the clinician can interact with. In some applications, certain conventional laparoscopes may include electronic components to detect actuation of the buttons or other elements by the clinician. In some applications, the end of an instrument axis may be coupled to the end of the user interaction device, thereby allowing the instrument axis to rotate relative to the end of the user interaction device.

[0006] In some applications, certain conventional robotic laparoscopic or surgical instruments may have a longer overall length than surgical instruments constructed for manual use, because some conventional robotic laparoscopic or surgical instruments include tool driver adapters and separate user interaction devices attached to the ends of the instrument axes. Summary of the Invention

[0007] Some benchmarking systems may utilize laparoscopic or other surgical instruments that are difficult to handle and may not be able to be sterilized using standardized processes due to the additional length of the instruments, which is attributed to separate user interaction devices attached to the ends of the instrument shaft.

[0008] Based on some embodiments disclosed herein, it has been recognized that as the robotic systems and surgical instruments developed by the applicant continue to evolve and provide functionality previously unavailable, significant and unexpected changes to the structure and architecture of the robotic systems have been discovered, and these changes have yielded surprisingly important and advantageous results in facilitating the efficient and simple operation of the robotic systems and surgical instruments. Furthermore, based on some embodiments disclosed herein, it has been recognized that a reduction in the overall instrument length is desirable while maintaining the desired operating length. Additionally, based on some embodiments disclosed herein, it has been recognized that combining a user interaction device with a tool drive adapter capable of withstanding sterilization while providing accurate detection of user input is desirable.

[0009] Therefore, this disclosure addresses these and other challenges.

[0010] For example, due to the unique and innovative architecture of the surgical instruments developed by the applicant, the overall length of the surgical instruments can be reduced while maintaining the desired operating length. Therefore, the robotic system can use the surgical instruments for the desired procedure, while allowing the instruments to be easily handled by clinicians and sterilized using standardized surgical procedures and equipment. Furthermore, the robotic system can utilize surgical instruments that can provide accurate detection of user feedback while allowing the components of the surgical instruments to undergo sterilization procedures.

[0011] Therefore, the embodiments disclosed herein provide a laparoscopic or other surgical instrument that can combine one or more user inputs (e.g., buttons) with a tool drive adapter, thereby eliminating the need for a separate user interaction device and reducing the overall length of the surgical instrument. The surgical instrument may include one or more sensors disposed, sealed, or isolated within the instrument axis to detect the position or state of the user input, even when the instrument axis rotates relative to the user input. The sensors can be arranged to provide reliable detection of the position or state of the user input.

[0012] Advantageously, some embodiments of the surgical instrument and sensor arrangements disclosed herein can reduce the overall length of the surgical instruments while allowing reliable detection of user input and withstanding sterilization processes. Such surgical instrument configurations and / or sensor arrangements can provide solutions to the aforementioned challenges and have not yet been disclosed or implemented in comparable systems because, prior to the discovery and development of embodiments of the instrument configurations and / or sensor arrangements described herein, no unique improvement to the applicant's new technology had been realized or otherwise envisioned in such systems.

[0013] According to some embodiments, the surgical instrument may include an instrument shaft and a tool drive adapter. The tool drive adapter may include a housing disposed around a portion of the instrument shaft. The instrument shaft may rotate about an axis of rotation relative to the tool drive housing. In some embodiments, the surgical instrument is a laparoscope. Further, in some embodiments, the instrument shaft is a laparoscopic instrument.

[0014] According to some embodiments, an actuator coupled to a tool drive housing can control the function of a surgical instrument. In some embodiments, a sensor array disposed within or otherwise coupled to the instrument shaft can detect the position of the actuator or any other suitable magnetic element. The sensor array can be disposed within or otherwise coupled to any suitable instrument, tool, or device.

[0015] The sensor array may include a printed circuit board configured to rotate about a rotation axis and relative to a magnetic element. In some embodiments, the printed circuit board may be circular.

[0016] According to some embodiments, multiple sensors can be arranged around a rotation axis and coupled to a printed circuit board. One or more sensors can be configured to change between an open and closed state in response to a change in the position of a magnetic element relative to the rotation axis, or to provide a signal corresponding to actuation of an actuator. The sensors can be spaced equidistantly. In some applications, the sensor array may include multiple sets of sensors. For example, in some embodiments, one set of sensors may be disposed on a first surface of the printed circuit board, while another set of sensors may be disposed on an opposing second surface of the printed circuit board. One set of sensors may be interposed between another set of sensors. In some applications, the sensors are reed switches.

[0017] In some embodiments, the printed circuit board may include a plurality of elongated strips circumferentially arranged about an axis of rotation and configured to rotate about the axis of rotation and relative to a magnetic element. In some embodiments, a sensor may be coupled to a corresponding elongated strip among the plurality of elongated strips. According to some embodiments, the sensor may be disposed on the elongated strip. The sensors may be laterally spaced along the axis of rotation. Attached Figure Description

[0018] The disclosed aspects will be described below in conjunction with the accompanying drawings, which are provided to illustrate rather than limit the disclosed aspects, wherein similar reference numerals denote similar elements.

[0019] Figure 1 An implementation scheme of a cart-based robotic system deployed for the diagnosis and / or treatment of bronchoscopic procedures is illustrated.

[0020] Figure 2 Depicting Figure 1 Another aspect of robotic systems.

[0021] Figure 3 An example is shown of equipment set up for ureteroscopy. Figure 1 The implementation plan for the robot system.

[0022] Figure 4 Examples of devices deployed for vascular surgery are shown. Figure 1 The implementation plan for the robot system.

[0023] Figure 5 An implementation scheme for a table-based robotic system deployed for bronchoscopy is illustrated.

[0024] Figure 6 Provided Figure 5 An alternative view of the robot system.

[0025] Figure 7 An example system configured to retract a robotic arm is shown.

[0026] Figure 8 An implementation scheme for a table-based robotic system constructed for ureteroscopy is illustrated.

[0027] Figure 9 An implementation scheme for a table-based robotic system constructed for laparoscopic surgery is illustrated.

[0028] Figure 10 Examples Figures 5 to 9 An implementation scheme for a platform-based robot system with pitch or tilt adjustment.

[0029] Figure 11 Provided Figures 5 to 10 A detailed diagram of the interface between the platform and the column of the platform-based robotic system.

[0030] Figure 12 An alternative implementation scheme for a platform-based robotic system is illustrated.

[0031] Figure 13 Examples Figure 12 An end view of a platform-based robotic system.

[0032] Figure 14 An end view of a platform-based robotic system with a robotic arm attached is shown.

[0033] Figure 15 An exemplary device driver is shown.

[0034] Figure 16 An exemplary medical device with paired instrument drivers is illustrated.

[0035] Figure 17 An alternative design of the instrument actuator and the instrument is illustrated, wherein the axis of the actuator is parallel to the axis of the slender axis of the instrument.

[0036] Figure 18 An example of a device with a device-based insertion architecture is shown.

[0037] Figure 19 An example controller is shown.

[0038] Figure 20 A block diagram illustrating an example implementation is provided, which demonstrates the estimation. Figures 1 to 10 The location of one or more components of a robotic system (such as...) Figures 16 to 18 A positioning system for the location of instruments.

[0039] Figure 21 A partial perspective view of a laparoscopy according to some implementation schemes is shown.

[0040] Figure 22 Examples Figure 21 A partial perspective view of the laparoscope, with the outer shell shown by hidden lines.

[0041] Figure 23 Examples Figure 21 A perspective view of the sensor array of a laparoscopy.

[0042] Figure 24 Examples Figure 23 A partial exploded view of the sensor array.

[0043] Figure 25 Examples Figure 23 Front view of the array components of the sensor array.

[0044] Figure 26 Examples Figure 25 A side front view of the array components.

[0045] Figure 27 A perspective view of a sensor array according to some implementation schemes is shown.

[0046] Figure 28 Examples Figure 27 A perspective view of part of the sensor array.

[0047] Figure 29 Examples Figure 27 Front view of the printed circuit board of the sensor array.

[0048] Figure 30 Examples Figure 27 A side front view of a printed circuit board. Detailed Implementation

[0049] 1. Overview The aspects disclosed herein can be integrated into robot-enabled medical systems capable of performing a variety of medical procedures, including minimally invasive procedures such as laparoscopy and non-invasive procedures such as endoscopy. In endoscopic procedures, the system can perform bronchoscopy, ureteroscopy, gastroscopy, etc.

[0050] In addition to performing a wide range of surgeries, the system can provide additional benefits such as enhanced imaging and guidance to assist physicians. Furthermore, the system can provide physicians with the ability to perform surgery from an ergonomically positioned location, eliminating the need for cumbersome arm movements and positioning. Even further, the system can provide physicians with the ability to perform surgery with improved ease of use, allowing one or more instruments in the system's apparatus to be controlled by a single user.

[0051] For illustrative purposes, various embodiments will be described below in conjunction with the accompanying drawings. It should be understood that many other specific embodiments of the disclosed concepts are possible, and various advantages can be realized using the disclosed specific embodiments. Headings are included herein for reference and to aid in locating sections. These headings are not intended to limit the scope of the concepts described therein. Such concepts may be applicable throughout the specification.

[0052] A. Robotic System – Trolley Robot-enabled medical systems can be constructed in a variety of ways, depending on the specific surgery. Figure 1An embodiment of a trolley-based, robot-enabled system 10 deployed for diagnostic and / or therapeutic bronchoscopy is illustrated. During bronchoscopy, system 10 may include a trolley 11 having one or more robotic arms 12 to deliver medical instruments, such as a manipulable endoscope 13 (which may be a surgical bronchoscope for bronchoscopy), to a natural orifice access point (i.e., in this example, positioned on the patient's mouth on the table) to deliver diagnostic and / or therapeutic tools. As shown, trolley 11 may be positioned near the patient's upper torso to provide access to the access point. Similarly, robotic arms 12 may be actuated to position the bronchoscope relative to the access point. When performing GI procedures using a gastroscopy (a specialized endoscope for gastrointestinal (GI) surgery), the same approach may be used. Figure 1 The layout within. Figure 2 An example implementation of the cart is described in more detail.

[0053] Continue to refer to Figure 1 Once the trolley 11 is correctly positioned, the robotic arm 12 can robotically, manually, or in combination thereof insert the steerable endoscope 13 into the patient. As shown, the steerable endoscope 13 may include at least two telescopic parts, such as an inner guide portion and an outer sheath portion, each coupled to a separate instrument actuator from a set of instrument actuators 28, each instrument actuator coupled to the distal end of a separate robotic arm. This linear arrangement of the instrument actuators 28, facilitating coaxial alignment of the guide portion and the sheath portion, creates a “virtual track” 29, which can be repositioned in space by manipulating one or more robotic arms 12 to different angles and / or positions. The virtual track described herein is depicted using dashed lines in the accompanying drawings, and therefore the dashed lines do not depict any physical structure of the system. Translation of the instrument actuators 28 along the virtual track 29 causes the inner guide portion to extend or retract relative to the outer sheath portion, or to advance or retract the endoscope 13 from the patient. The angle of the virtual track 29 can be adjusted, translated, and pivoted based on clinical application or physician preference. For example, in bronchoscopy, the angle and positioning of the virtual track 29 shown in the figure represent a trade-off between providing the physician with access to the endoscope 13 and minimizing friction caused by the endoscope 13 bending into the patient's mouth.

[0054] After insertion, endoscope 13 can be guided downwards through the patient's trachea and lungs using precise commands from the robotic system until the target destination or surgical site is reached. To enhance navigation through the patient's lung network and / or reach the desired target, endoscope 13 can be manipulated to telescopically extend the inner guide portion from the outer sheath portion to achieve enhanced joint movement and a larger radius of flexion. The use of separate instrument actuators 28 also allows the guide portion and sheath portion to be driven independently of each other.

[0055] For example, endoscope 13 can be guided to deliver a biopsy needle to a target, such as a lesion or nodule in a patient's lung. The needle can be extended downwards along the working channel, which extends the length of the endoscope to obtain a tissue sample to be analyzed by a pathologist. Depending on the pathological findings, additional tools can be deployed downwards along the working channel of the endoscope for additional biopsies. After the nodule is identified as malignant, endoscope 13 can be used to deliver endoscopic tools to remove the potential cancerous tissue. In some cases, diagnostic and therapeutic procedures can be delivered in a separate procedure. In these cases, endoscope 13 can also be used to deliver a reference point to "mark" the location of the target nodule. In other cases, diagnostic and therapeutic procedures can be delivered during the same procedure.

[0056] System 10 may also include a movable tower 30, which can be connected to the trolley 11 via support cables to provide control, electronic, fluid, optical, sensor, and / or electrical support to the trolley 11. Placing such functionality within the tower 30 allows for easier adjustment and / or repositioning of the trolley 11 by its smaller form factor, by the operating physician and his / her staff. Additionally, the functional division between the trolley / table and the support tower 30 reduces operating room clutter and facilitates improved clinical workflow. While the trolley 11 can be positioned close to the patient, the tower 30 can be stowed in a remote location to avoid obstructing the path during surgery.

[0057] To support the robotic system described above, tower 30 may include components of a computer-based control system that stores computer program instructions in a non-transitory computer-readable storage medium such as a permanent magnet memory drive, a solid-state drive, etc. Whether execution occurs within tower 30 or cart 11, the execution of these instructions can control the entire system or its subsystems. For example, when executed by the processor of the computer system, the instructions can cause components of the robotic system to actuate relevant brackets and arm mounts, actuate the robotic arm, and control medical devices. For instance, in response to receiving a control signal, motors in the joints of the robotic arm can position the arm into a specific posture.

[0058] Tower 30 may also include pumps, flow meters, valve controllers, and / or fluid passages to provide controlled flushing and suction capabilities to a system that can be deployed via endoscope 13. These components may also be controlled using a computer system of tower 30. In some embodiments, flushing and suction capabilities may be delivered directly to endoscope 13 via a separate cable.

[0059] Tower 30 may include voltage and surge protectors designed to provide filtered and protected power to trolley 11, thereby avoiding the need to place power transformers and other auxiliary power components in trolley 11, resulting in a smaller, more portable trolley 11.

[0060] Tower 30 may also include support equipment for sensors deployed throughout the robotic system 10. For example, tower 30 may include optoelectronic equipment for detecting, receiving, and processing data received from optical sensors or cameras throughout the robotic system 10. In conjunction with a control system, such optoelectronic equipment can be used to generate real-time images for display in any number of consoles deployed throughout the system (including within tower 30). Similarly, tower 30 may also include electronic subsystems for receiving and processing signals from deployed electromagnetic (EM) sensors. Tower 30 may also be used to house and position EM field generators for detection by EM sensors within or on top of medical devices.

[0061] In addition to other consoles available in the rest of the system (e.g., a console mounted on top of a cart), tower 30 may also include console 31. Console 31 may include a user interface and display, such as a touchscreen, for physician operators. Consoles in system 10 are generally designed to provide both robot control and preoperative and real-time information for the procedure, such as navigation and positioning information for endoscope 13. When console 31 is not the only console available to the physician, it may be used by a second operator, such as a nurse, to monitor the patient's health or vital signs and system operation, as well as to provide procedure-specific data, such as navigation and positioning information. In other embodiments, console 30 is housed in a separate body from tower 30.

[0062] Tower 30 can be connected to cart 11 and endoscope 13 via one or more cables or connectors (not shown). In some embodiments, support functionality from tower 30 can be provided to cart 11 via a single cable, thereby simplifying the operating room and eliminating clutter. In other embodiments, specific functionality can be coupled in separate wiring and connections. For example, while power to the cart can be provided via a single cable, support for control, optics, fluid, and / or navigation can also be provided via separate cables.

[0063] Figure 2 Provided from Figure 1 The illustration shows a detailed implementation of a cart-based robot-enabled system. The cart 11 typically includes an elongated support structure 14 (often referred to as a "post"), a cart base 15, and a console 16 at the top of the post 14. The post 14 may include one or more brackets, such as those for supporting one or more robotic arms 12. Figure 2The three shown are an unfolded bracket 17 (or alternatively, an "arm support"). The bracket 17 may include a separately configurable arm mount that rotates along a vertical axis to adjust the base of the robotic arm 12 for better positioning relative to the patient. The bracket 17 also includes a bracket interface 19 that allows the bracket 17 to translate vertically along the column 14.

[0064] The carriage interface 19 is connected to the post 14 via slots (such as slot 20) positioned on opposite sides of the post 14 to guide the vertical translation of the carriage 17. Slot 20 includes a vertical translation interface to position and hold the carriage relative to the trolley base 15 at various vertical heights. The vertical translation of the carriage 17 allows the trolley 11 to adjust the reach of the robotic arm 12 to accommodate various table heights, patient sizes, and physician preferences. Similarly, individually configurable arm mounts on the carriage 17 allow the robotic arm base 21 of the robotic arm 12 to be angled in various configurations.

[0065] In some embodiments, slot 20 may be supplemented with a slot cover flush and parallel to the slot surface to prevent dust and fluid from entering the internal cavity of column 14 and the vertical translation interface during the vertical translation of bracket 17. The slot cover can be deployed via a pair of spring reels positioned near the vertical top and bottom of slot 20. The cover is coiled within the reels before deployment and extends and retracts from its coiled state as bracket 17 translates vertically up and down. The spring loading of the reels provides the force to retract the cover into the reels as bracket 17 translates toward the reels, while maintaining a tight seal as bracket 17 translates away from the reels. The cover can be attached to bracket 17 using, for example, a bracket in bracket interface 19, to ensure proper extension and retraction of the cover during the translation of bracket 17.

[0066] The column 14 may internally include mechanisms such as gears and motors, which are designed to mechanically translate the bracket 17 using vertically aligned lead screws in response to control signals generated in response to user input (e.g., input from the console 16).

[0067] A robotic arm 12 typically includes a robotic arm base 21 and an end effector 22 separated by a series of links 23 connected by a series of joints 24, each joint including an independent actuator, and each actuator including an independently controllable motor. Each independently controllable joint represents an independent degree of freedom available to the robotic arm. Each arm in the arm 12 has seven joints and thus provides seven degrees of freedom. Multiple joints result in multiple degrees of freedom, thus allowing for “redundant” degrees of freedom. Redundant degrees of freedom allow the robotic arm 12 to position its corresponding end effector 22 in a specific location, orientation, and trajectory in space using different linkage mechanisms and joint angles. This allows the system to locate and guide medical devices from desired points in space, while allowing physicians to move the arm joints to a clinically advantageous location away from the patient to achieve greater proximity while avoiding arm collisions.

[0068] The trolley base 15 balances the weight of the column 14, bracket 17, and arm 12 on the floor. Therefore, the trolley base 15 houses heavier components such as electronics, motors, power supplies, and components that enable the trolley to move and / or be secured. For example, the trolley base 15 includes rollable wheel-shaped casters 25 that allow the trolley to be easily moved around the room before surgery. Once in place, the casters 25 can be secured using wheel locks to hold the trolley 11 in place during surgery.

[0069] The console 16, positioned at the vertical end of column 14, allows both a user interface for receiving user input and a display screen (or dual-purpose device, such as, for example, touchscreen 26) to provide both preoperative and intraoperative data to the physician user. Potential preoperative data on touchscreen 26 may include preoperative planning, navigation, and mapping data derived from preoperative computed tomography (CT) scans and / or records from preoperative patient interviews. Intraoperative data on the display screen may include optical information from tools and sensors, coordinate information from sensors, and important patient statistics such as respiration, heart rate, and / or pulse. The console 16 can be positioned and tilted to allow the physician to access it from the side of column 14 opposite to bracket 17. From this positioning, the physician can operate the console 16 from behind cart 11 while simultaneously observing the console 16, robotic arm 12, and patient. As shown, the console 16 also includes a handle 27 for assisting in manipulating and stabilizing cart 11.

[0070] Figure 3An embodiment of a robot-enabled system 10 deployed for ureteroscopy is illustrated. During ureteroscopy, a trolley 11 can be positioned to deliver a ureteroscope 32 (a surgery-specific endoscope designed to traverse the patient's urethra and ureter) to the patient's lower abdominal region. During ureteroscopy, it is desirable to align the ureteroscope 32 directly with the patient's urethra to reduce friction and forces on sensitive anatomical structures in that region. As shown, the trolley 11 can be aligned at the foot of the table to allow the robotic arm 12 to position the ureteroscope 32 for direct linear access into the patient's urethra. The robotic arm 12 can insert the ureteroscope 32 directly into the patient's lower abdomen through the urethra from the foot of the table along a virtual track 33.

[0071] After insertion into the urethra, using control techniques similar to those used in bronchoscopy, the ureteroscope 32 can be navigated to the bladder, ureter, and / or kidney for diagnostic and / or therapeutic applications. For example, the ureteroscope 32 can be guided into the ureter and kidney to break up accumulated kidney stones using a laser or ultrasonic lithotripsy device that extends downwards along the working channel of the ureteroscope 32. After lithotripsy is complete, the resulting stone fragments can be removed using a basket that extends downwards along the ureteroscope 32.

[0072] Figure 4 An embodiment of a similarly arranged robot-enabled system for vascular surgery is illustrated. In vascular surgery, system 10 can be configured such that a trolley 11 delivers a medical device 34 (such as a manipulable catheter) to an entry point in the femoral artery in the patient's leg. The femoral artery presents both a relatively large diameter for navigation and a relatively less circuitous and tortuous path to the patient's heart, which simplifies navigation. As in ureteroscopy, the trolley 11 can be positioned toward the patient's leg and lower abdomen to allow the robotic arm 12 to provide a virtual track 35 for direct linear access to the femoral artery entry point in the patient's thigh / hip region. After insertion into the artery, the medical device 34 can be guided and inserted via a translational instrument actuator 28. Alternatively, the trolley can be positioned around the patient's upper abdomen to reach alternative vascular entry points, such as the carotid and brachial arteries near, for example, the shoulder and wrist.

[0073] B. Robot System – Unit Implementation plans for robot-enabled medical systems can also incorporate patient tables. Integrating a patient table reduces the amount of capital equipment in the operating room by removing trolleys, allowing for greater accessibility to the patient. Figure 5An embodiment of such a robot-enabled system deployed for bronchoscopy is illustrated. System 36 includes a support structure or column 37 for supporting a platform 38 (shown as a "table" or "bed") on a floor. Much like a trolley-based system, the end effector of the robotic arm 39 of system 36 includes instrument actuators 42, designed to manipulate elongated medical instruments, such as… Figure 5 The bronchoscope 40 is used in the bronchoscopy. In practice, the C-arm used to provide fluorescence imaging can be positioned above the patient's upper abdominal region by placing the transmitter and detector around the stage 38.

[0074] Figure 6 An alternative view of system 36 without a patient and medical devices is provided for discussion purposes. As shown, column 37 may include one or more brackets 43, shown as annular in system 36, upon which one or more robotic arms 39 may be based. The brackets 43 may translate along a vertical column interface 44 extending along the length of column 37 to provide different vantage points from which the robotic arms 39 may be positioned to reach the patient. The brackets 43 may be rotated about column 37 using mechanical motors positioned within column 37 to allow the robotic arms 39 to access multiple sides of table 38, such as, for example, the sides of the patient. In embodiments with multiple brackets, the brackets may be individually positioned on the column and may translate and / or rotate independently of the other brackets. While the brackets 43 need not be circular or even encircling column 37, the annular shape shown facilitates rotation of the brackets 43 about column 37 while maintaining structural balance. Rotation and translation of the brackets 43 allow the system to align medical devices such as endoscopes and laparoscopes to different access points on the patient. In other embodiments (not shown), system 36 may include a patient table or bed with an adjustable arm support, which takes the form of a rod or track extending beside the patient table or bed. One or more robotic arms 39 (e.g., via a shoulder with an elbow joint) may be attached to the adjustable arm support, which can be vertically adjusted. By providing vertical adjustment, the robotic arms 39 are advantageously able to be compactly retracted under the patient table or bed and subsequently raised during surgery.

[0075] Arm 39 can be mounted on a bracket via a set of arm mounts 45 comprising a series of joints that can be individually rotated and / or telescopically extended to provide additional constructibility to the robotic arm 39. Additionally, the arm mounts 45 can be positioned on the bracket 43 such that, when the bracket 43 is properly rotated, the arm mounts 45 can be positioned on the same side of the stage 38 (e.g., ...). Figure 6 As shown), on the opposite side of platform 38 (as shown) Figure 9 (as shown) or on the adjacent side of platform 38 (not shown).

[0076] Column 37 structurally supports platform 38 and provides a path for the vertical translation of the bracket. Internally, column 37 may be equipped with a lead screw for guiding the vertical translation of the bracket, and a motor for mechanizing the translation of the bracket based on the lead screw. Column 37 can also transmit electrical and control signals to bracket 43 and the robotic arm 39 mounted thereon.

[0077] Platform base 46 has with Figure 2 The trolley base 15 in the illustrated trolley 11 serves a similar function, accommodating heavier components to balance the table / bed 38, column 37, bracket 43, and robotic arm 39. The table base 46 may also incorporate rigid casters to provide stability during surgery. Casters deployed from the bottom of the table base 46 can extend in opposite directions on either side of the base 46 and retract when the system 36 needs to be moved.

[0078] continue Figure 6 System 36 may also include a tower (not shown) that divides the functionality of system 36 between the table and the tower to reduce the form factor and volume of the table. As in previously disclosed embodiments, the tower may provide the table with various supporting functionalities such as processing, computing and control capabilities, electrical, fluid and / or optical, and sensor processing. The tower may also be movable to be positioned away from the patient, thereby improving physician accessibility and eliminating clutter in the operating room. Additionally, placing components in the tower allows for more storage space in the base of the table for potential retraction of the robotic arm. The tower may also include a main controller or console that provides a user interface such as a keyboard and / or suspension for user input, and a display screen (or touchscreen) for preoperative and intraoperative information such as real-time imaging, navigation, and tracking information. In some embodiments, the tower may also include a gripper for a gas canister to be used for inflatation.

[0079] In some implementations, the base can be retracted and stored when not in use. Figure 7 An example of a system 47 for retracting a robotic arm in a platform-based system implementation is illustrated. In system 47, a bracket 48 can be vertically translated into a base 49 to retract the robotic arm 50, arm mount 51, and bracket 48 within the base 49. A base cover 52 can be translated and retracted to open to deploy the bracket 48, arm mount 51, and arm 50 around a post 53, and to close to retract the bracket, arm mount, and arm for protection when not in use. The base cover 52 can be sealed along the edges of its opening using a membrane 54 to prevent dust and fluid from entering when closed.

[0080] Figure 8An embodiment of a robot-enabled table-based system configured for ureteroscopy is illustrated. In ureteroscopy, table 38 may include a rotating portion 55 for positioning the patient at an angle to column 37 and table base 46. The rotating portion 55 may rotate or pivot about a pivot point (e.g., below the patient's head) to position the lower portion of the rotating portion 55 away from column 37. For example, pivoting of the rotating portion 55 allows a C-arm (not shown) to be positioned above the patient's lower abdomen without competing for space with the column (not shown) below table 38. By rotating a bracket 35 (not shown) about column 37, robotic arm 39 can insert a ureteroscope 56 directly into the patient's groin region along a virtual track 57 to reach the urethra. During ureteroscopy, stirrups 58 may also be fixed to the rotating portion 55 of table 38 to support the positioning of the patient's legs during the procedure and allow full access to the patient's groin region.

[0081] In laparoscopic surgery, minimally invasive instruments are inserted into the patient's anatomical structures through one or more small incisions in the abdominal wall. In some embodiments, the minimally invasive instruments include elongated rigid components, such as shafts, for accessing the anatomical structures within the patient. After the patient's abdominal cavity is inflated, the instruments can be guided to perform surgical or medical tasks, such as grasping, cutting, ablation, suturing, etc. In some embodiments, the instruments may include endoscopes, such as laparoscopes. Figure 9 An implementation scheme for a robot-enabled platform-based system constructed for laparoscopic surgery is illustrated. For example... Figure 9 As shown, the bracket 43 of system 36 can be rotated and vertically adjusted to position the pair of robotic arms 39 on opposite sides of table 38, so that the instrument 59 can be positioned through the smallest incision on both sides of the patient to reach his / her abdominal cavity using arm mount 45.

[0082] To accommodate laparoscopic surgery, the robot-enabled platform system can also tilt the platform to the desired angle. Figure 10 An implementation scheme for a robot-enabled medical system with pitch or tilt adjustment is illustrated. For example... Figure 10 As shown, system 36 can adapt to the tilt of platform 38 to position one part of the platform at a greater distance from the base plate than the other part. Additionally, arm mount 45 can rotate to match the tilt, such that arm 39 maintains the same planar relationship with platform 38. To accommodate steeper angles, column 37 may also include a telescopic portion 60 that allows vertical extension of column 37 to prevent platform 38 from contacting the floor or colliding with base 46.

[0083] Figure 11Detailed illustrations are provided of the interface between platform 38 and column 37. The pitch-rotation mechanism 61 can be configured to change the pitch angle of platform 38 relative to column 37 in multiple degrees of freedom. The pitch-rotation mechanism 61 can be implemented by positioning orthogonal axes 1 and 2 at the column interface, each axis being actuated by separate motors 3 and 4 in response to electrical pitch angle commands. Rotation along one screw 5 enables tilt adjustment along axis 1, while rotation along another screw 6 enables tilt adjustment along another axis 2. In some embodiments, ball joints can be used to change the pitch angle of platform 38 relative to column 37 in multiple degrees of freedom.

[0084] For example, pitch adjustment is particularly useful when attempting to position the table in the Trend-Lenberg position (i.e., positioning the patient's lower abdomen higher than the floor) for lower abdominal surgery. The Trend-Lenberg position causes the patient's internal organs to slide down to his / her upper abdomen by gravity, thereby clearing the abdominal cavity to allow minimally invasive instruments to enter and perform lower abdominal surgical or medical procedures, such as laparoscopic prostatectomy.

[0085] Figure 12 and Figure 13 Isometric and end views of an alternative embodiment of a stage-based surgical robot system 100 are illustrated. The surgical robot system 100 includes one or more robotic arms that can be configured to support a stage 101 (see, for example...) Figure 14 One or more adjustable arm supports 105 are provided. In the illustrated embodiment, a single adjustable arm support 105 is shown, but additional arm supports may be positioned on the opposite side of the platform 101. The adjustable arm support 105 may be configured such that it can be moved relative to the platform 101 to adjust and / or change the positioning of the adjustable arm support 105 and / or any robotic arm attached to the adjustable arm support relative to the platform 101. For example, the adjustable arm support 105 may be adjusted with one or more degrees of freedom relative to the platform 101. The adjustable arm support 105 provides high flexibility to the system 100, including the ability to easily retract the one or more adjustable arm supports 105 and any robotic arms attached thereto under the platform 101. The adjustable arm support 105 can be raised from a retracted position to a position below the upper surface of the platform 101. In other embodiments, the adjustable arm support 105 can be raised from a retracted position to a position above the upper surface of the platform 101.

[0086] The adjustable arm support 105 provides several degrees of freedom, including lifting, lateral translation, and tilting. Figure 12 and Figure 13 In the illustrated embodiment, the arm support 105 is configured to have four degrees of freedom, which are in Figure 12The arrows illustrate this. The first degree of freedom allows adjustment of the adjustable arm support 105 in the z-direction (“Z-lift”). For example, the adjustable arm support 105 may include a bracket 109 configured to move up or down along or relative to the column 102 of the support platform 101. The second degree of freedom allows the adjustable arm support 105 to tilt. For example, the adjustable arm support 105 may include a rotary joint that allows the adjustable arm support 105 to be aligned with the bed in a head-down, feet-up position. The third degree of freedom allows the adjustable arm support 105 to “pivot upwards”, which can be used to adjust the distance between one side of the platform 101 and the adjustable arm support 105. The fourth degree of freedom allows the adjustable arm support 105 to translate along the longitudinal length of the platform.

[0087] Figure 12 and Figure 13 The surgical robot system 100 may include a platform supported by a column 102 mounted to a base 103. The base 103 and the column 102 support the platform 101 relative to a support surface. A floor axis 131 and a support axis 133 are... Figure 13 As shown in the image.

[0088] The adjustable arm support 105 can be mounted to the column 102. In other embodiments, the arm support 105 can be mounted to the platform 101 or the base 103. The adjustable arm support 105 may include a bracket 109, a rod or rail connector 111, and a rod or rail 107. In some embodiments, one or more robotic arms mounted to the rail 107 can translate and move relative to each other.

[0089] The bracket 109 can be attached to the post 102 via a first joint 113, which allows the bracket 109 to move relative to the post 102 (e.g., such as moving up or down along a first axis or vertical axis 123). The first joint 113 can provide a first degree of freedom (“Z-lift”) to the adjustable arm support 105. The adjustable arm support 105 can include a second joint 115 that provides a second degree of freedom (tilt) to the adjustable arm support 105. The adjustable arm support 105 can include a third joint 117 that can provide a third degree of freedom (“upward pivot”) to the adjustable arm support 105. An additional joint 119 (in) can be provided. Figure 13 As shown in the diagram, the additional joint mechanically constrains the third joint 117 to maintain the orientation of the track 107 as the track connector 111 rotates about the third axis 127. The adjustable arm support 105 may include a fourth joint 121 that can provide a fourth degree of freedom (translation) for the adjustable arm support 105 along the fourth axis 129.

[0090] Figure 14An end view of a surgical robot system 140A is illustrated, showing two adjustable arm supports 105A and 105B mounted on opposite sides of a stage 101. A first robotic arm 142A is attached to a rod or rail 107A of the first adjustable arm support 105B. The first robotic arm 142A includes a base 144A attached to the rail 107A. The distal end of the first robotic arm 142A includes an instrument drive mechanism 146A that can be attached to one or more robotic medical instruments or tools. Similarly, a second robotic arm 142B includes a base 144B attached to the rail 107B. The distal end of the second robotic arm 142B includes an instrument drive mechanism 146B. The instrument drive mechanism 146B can be configured to be attached to one or more robotic medical instruments or tools.

[0091] In some embodiments, one or more of the robotic arms 142A, 142B include an arm with seven or more degrees of freedom. In some embodiments, one or more of the robotic arms 142A, 142B may include eight degrees of freedom, including an insertion axis (including one degree of freedom for insertion), a wrist (including three degrees of freedom for wrist pitch, yaw, and roll), an elbow (including one degree of freedom for elbow pitch), a shoulder (including two degrees of freedom for shoulder pitch and yaw), and a base 144A, 144B (including one degree of freedom for translation). In some embodiments, the insertion degree of freedom may be provided by the robotic arms 142A, 142B, while in other embodiments, the instrument itself provides insertion via an instrument-based insertion architecture.

[0092] C. Instrument drivers and interfaces The end effector of the system's robotic arm includes (i) an instrument actuator (alternatively referred to as an "instrument drive mechanism" or "instrument device manipulator") incorporating electromechanical devices for actuating medical devices; and (ii) a removable or detachable medical device that may not contain any electromechanical components, such as motors. This dichotomy may be driven by the need for sterilization of medical devices used in surgical procedures, and the inability to adequately sterilize expensive capital equipment due to its complex mechanical components and sensitive electronics. Therefore, medical devices can be designed to be detached, removed, and interchanged from the instrument actuator (and thus from the system) for individual sterilization or disposal by a physician or physician staff. In contrast, the instrument actuator does not need to be altered or sterilized and can be covered for protection.

[0093] Figure 15An example instrument actuator is illustrated. The instrument actuator 62, located at the distal end of a robotic arm, includes one or more drive units 63 arranged parallel to the axis to provide controlled torque to a medical device via a drive shaft 64. Each drive unit 63 includes a separate drive shaft 64 for interacting with the device, a gear head 65 for converting motor shaft rotation into desired torque, a motor 66 for generating drive torque, an encoder 67 for measuring the speed of the motor shaft and providing feedback to control circuitry, and control circuitry 68 for receiving control signals and actuating the drive unit. Each drive unit 63 is independently controlled and motorized, and the instrument actuator 62 can provide multiple (e.g., ...) to the medical device. Figure 15 Four independent drive outputs are shown. In operation, the control circuit 68 receives control signals, transmits motor signals to the motor 66, compares the motor speed measured by the encoder 67 with the desired speed, and modulates the motor signals to generate the desired torque.

[0094] For surgeries requiring a sterile environment, the robotic system can incorporate a drive interface, such as a sterile adapter connected to a sterile cover, positioned between the instrument actuator and the medical device. The primary purpose of the sterile adapter is to transmit angular motion from the drive shaft of the instrument actuator to the drive input of the instrument, while maintaining physical separation between the drive shaft and the drive input, thus preserving sterility. Therefore, an example sterile adapter may include a series of rotary inputs and rotary outputs designed to mate with the drive shaft of the instrument actuator and the drive input on the instrument. The sterile cover, composed of a thin, flexible material (such as transparent or translucent plastic), is connected to the sterile adapter and designed to cover capital equipment, such as the instrument actuator, robotic arm, and trolley (in trolley-based systems) or table (in table-based systems). The use of the cover allows the capital equipment to be positioned near the patient while still within an area that does not require sterilization (i.e., a non-sterile area). On the other side of the sterile cover, the medical device can dock with the patient in an area requiring sterilization (i.e., a sterile area).

[0095] D. Medical devices Figure 16An example medical device with paired instrument actuators is illustrated. Similar to other devices designed for use with robotic systems, the medical device 70 includes an elongated shaft 71 (or elongated body) and an instrument base 72. The instrument base 72, also referred to as the “instrument handle” due to its intended design for manual interaction by a physician, typically includes a rotatable drive input 73 (e.g., a socket, pulley, or reel) designed to mate with a drive output 74 on a drive interface extending through the distal end of the robotic arm 76. When physically connected, latched, and / or coupled, the mating drive input 73 of the instrument base 72 can share a rotational axis with the drive output 74 in the instrument driver 75 to allow torque to be transmitted from the drive output 74 to the drive input 73. In some embodiments, the drive output 74 may include splines designed to mate with sockets on the drive input 73.

[0096] The elongated shaft 71 is designed to be delivered through an anatomical opening or cavity (e.g., as in endoscopy) or through a minimally invasive incision (e.g., as in laparoscopy). The elongated shaft 71 can be flexible (e.g., having endoscope-like properties) or rigid (e.g., having laparoscopy-like properties), or a customized combination of both flexible and rigid portions. When designed for laparoscopy, the distal end of the rigid elongated shaft can be connected to an end effector extending from an engaged wrist and surgical tool or medical instrument (such as, for example, a gripper or scissors) formed by a connecting fork having at least one degree of freedom, which can be actuated based on forces from a tendon when the drive input rotates in response to torque received from the drive output 74 of the instrument actuator 75. When designed for endoscopy, the distal end of the flexible elongated shaft can include a manipulable or controllable bending segment that can perform joint movements and flexion based on torque received from the drive output 74 of the instrument actuator 75.

[0097] Torque from the instrument actuator 75 is transmitted downwards along shaft 71 to the elongated shaft 71 via tendons. These individual tendons (such as traction cables) can be individually anchored to various drive inputs 73 within the instrument handle 72. From the handle 72, the tendons are guided downwards along one or more traction chambers of the elongated shaft 71 and anchored at the distal portion of the elongated shaft 71, or at the wrist at the distal portion of the elongated shaft. During surgical procedures such as laparoscopy, endoscopy, or mixed procedures, these tendons can be coupled to distally mounted end effectors, such as wrists, grippers, or scissors. In such an arrangement, torque applied to the drive inputs 73 transmits tension to the tendons, thereby causing the end effector to actuate in some way. In some embodiments, during surgery, the tendons can cause the joint to rotate about the axis, thereby causing the end effector to move in one direction or the other. Alternatively, the tendons can be connected to one or more jaws of a gripper at the distal end of the elongated shaft 71, wherein tension from the tendons causes the gripper to close.

[0098] During endoscopy, tendons can be attached via adhesives, control rings, or other mechanical fasteners to flexed or articulated segments positioned along an elongated axis 71 (e.g., at the distal end). When fixedly attached to the distal end of a flexed segment, torque applied to the drive input 73 is transmitted downward along the tendon, causing the softer flexed segment (sometimes referred to as a segment or region capable of articulation) to flex or articulate. Along non-flexed segments, it can be advantageous to helve or coil individual traction cavities that guide individual tendons along the wall (or inside) of the endoscope axis to balance radial forces caused by tension in the traction lines. For specific purposes, the angle of the helices and / or the spacing between them can be varied or designed, with tighter helices exhibiting less axial compression under load, while lower helical amounts cause greater axial compression under load but also exhibit restricted flexion. Alternatively, traction cavities can be guided parallel to the longitudinal axis of the elongated axis 71 to allow controlled articulation in desired flexed or articulated segments.

[0099] In endoscopic procedures, the elongated shaft 71 houses multiple components to assist in robotic surgery. The shaft may include a working channel for deploying surgical instruments (or medical devices), irrigation components, and / or suction components to an operating area at the distal end of the shaft 71. The shaft 71 may also house wires and / or optical fibers to transmit signals to / from an optical assembly at the distal tip, which may include an optical camera. The shaft 71 may also house optical fibers to carry light from a proximal light source (such as a light-emitting diode) to the distal end of the shaft.

[0100] At the distal end of the instrument 70, the distal tip may also include an opening for delivering tools for diagnostic and / or treatment, irrigation, and aspiration to the surgical site. The distal tip may also include a port for a camera (such as a fiberoptic endoscope or digital camera) to capture images of the internal anatomical space. Relatedly, the distal tip may also include a port for a light source used to illuminate the anatomical space when the camera is used.

[0101] exist Figure 16 In the example, the axis of the drive shaft, and therefore the axis of the drive input, is orthogonal to the axis of the elongated shaft. However, this arrangement complicates the rolling capability of the elongated shaft 71. Rolling the elongated shaft along its axis while keeping the drive input 73 stationary can cause undesirable tangling of the tendon as it extends from the drive input 73 and enters the traction cavity within the elongated shaft 71. Such tangling of the tendon can disrupt any control algorithm designed to predict the movement of the flexible elongated shaft during endoscopic surgery.

[0102] Figure 17 An alternative design of the instrument actuator and instrument is illustrated, wherein the axis of the drive unit is parallel to the axis of the slender shaft of the instrument. As shown, the circular instrument actuator 80 includes four drive units, wherein the drive outputs 81 of these drive units are aligned parallel to each other at the end of the robot arm 82. The drive units and their respective drive outputs 81 are housed in a rotating assembly 83 of the instrument actuator 80, which is driven by one of the drive units within the assembly 83. In response to the torque provided by the rotating drive unit, the rotating assembly 83 rotates along a circular bearing that connects the rotating assembly 83 to the non-rotating portion 84 of the instrument actuator. Electrical and control signals can be transmitted from the non-rotating portion 84 of the instrument actuator 80 to the rotating assembly 83 via electrical contacts, which can be maintained by rotation of a brush slip ring connection (not shown). In other embodiments, the rotating assembly 83 may be responsive to a separate drive unit integrated into the non-rotating portion 84 and therefore not parallel to the other drive units. The rotation mechanism 83 allows the instrument actuator 80 to rotate the drive unit and its respective drive output 81 as a single unit about the instrument actuator axis 85.

[0103] Similar to previously disclosed embodiments, the device 86 may include an elongated shaft portion 88 and a device base 87 (shown as having a transparent outer surface for discussion purposes), the device base including a plurality of drive input portions 89 (such as jacks, pulleys, and reels) configured to receive a drive output portion 81 in the device actuator 80. Unlike previously disclosed embodiments, the device shaft 88 extends from the center of the device base 87, and the axis of the device base is substantially parallel to the axis of the drive input portions 89, rather than as... Figure 16 It is orthogonal as in the design.

[0104] When coupled to the rotating assembly 83 of the instrument driver 80, the medical instrument 86, including the instrument base 87 and the instrument shaft 88, rotates in combination with the rotating assembly 83 about the instrument driver axis 85. Since the instrument shaft 88 is positioned at the center of the instrument base 87, it is coaxial with the instrument driver axis 85 when attached. Therefore, rotation of the rotating assembly 83 causes the instrument shaft 88 to rotate about its own longitudinal axis. Furthermore, when the instrument base 87 rotates together with the instrument shaft 88, any tendons connected to the drive input 89 in the instrument base 87 do not become entangled during rotation. Therefore, the parallelism of the axes of the drive output 81, the drive input 89, and the instrument shaft 88 allows the shaft to rotate without causing any control tendons to become entangled.

[0105] Figure 18 An instrument with an instrument-based insertion architecture according to some embodiments is illustrated. Instrument 150 can be coupled to any of the instrument drivers discussed above. Instrument 150 includes an elongated shaft 152, an end effector 162 connected to the shaft 152, and a shank 170 coupled to the shaft 152. The elongated shaft 152 includes a tubular member having a proximal portion 154 and a distal portion 156. The elongated shaft 152 includes one or more channels or grooves 158 along its outer surface. The grooves 158 are configured to receive one or more wires or cables 180 passing through the grooves. Thus, one or more cables 180 extend along the outer surface of the elongated shaft 152. In other embodiments, the cables 180 may also extend through the elongated shaft 152. Manipulation of the one or more cables 180 (e.g., via an instrument driver) actuates the end effector 162.

[0106] The instrument handle 170 (also referred to as the instrument base) may typically include an attachment interface 172 having one or more mechanical inputs 174, such as jacks, pulleys, or spools, which are designed to reciprocately engage with one or more torque couplers on the attachment surface of the instrument actuator.

[0107] In some embodiments, the instrument 150 includes a series of pulleys or cables that enable the elongated shaft 152 to translate relative to the handle 170. In other words, the instrument 150 itself includes an instrument-based insertion architecture that adapts to the insertion of the instrument, thereby minimizing reliance on a robotic arm to provide the insertion of the instrument 150. In other embodiments, the robotic arm may be largely responsible for the instrument insertion.

[0108] E. Controller Any robotic system described herein may include an input device or controller for manipulating a device attached to a robotic arm. In some embodiments, the controller may be coupled to the device (e.g., communicatively, electronically, electrically, wirelessly, and / or mechanically) such that manipulation of the controller, for example via master-slave control, causes corresponding manipulation of the device.

[0109] Figure 19 This is a perspective view of an embodiment of controller 182. In this embodiment, controller 182 includes a hybrid controller that may have both impedance and admittance control. In other embodiments, controller 182 may utilize only impedance or passive control. In other embodiments, controller 182 may utilize only admittance control. By being a hybrid controller, controller 182 advantageously has lower perceived inertia during use.

[0110] In the illustrated embodiment, controller 182 is configured to allow manipulation of two medical devices and includes two handles 184. Each handle 184 is connected to a universal joint 186. Each universal joint 186 is connected to a positioning platform 188.

[0111] like Figure 19 As shown, each positioning platform 188 includes a SCARA arm (selective compliant assembly robot arm) 198 connected to a post 194 via a prism joint 196. The prism joint 196 is configured to translate along the post 194 (e.g., along track 197) to allow each handle 184 to translate in the z-direction, thus providing a first degree of freedom. The SCARA arm 198 is configured to allow the handle 184 to move in the xy-plane, thus providing two additional degrees of freedom.

[0112] In some embodiments, one or more load sensors are located within the controller. For example, in some embodiments, load sensors (not shown) are located within the body of each gimbal in gimbal 186. By providing load sensors, portions of controller 182 are capable of operating under admittance control, thereby advantageously reducing the sense inertia of the controller during use. In some embodiments, positioning platform 188 is configured for admittance control, while gimbal 186 is configured for impedance control. In other embodiments, gimbal 186 is configured for admittance control, while positioning platform 188 is configured for impedance control. Thus, for some embodiments, the translational or orientational degrees of freedom of positioning platform 188 may depend on admittance control, while the rotational degrees of freedom of gimbal 186 may depend on impedance control.

[0113] F. Navigation and Control Traditional endoscopy can involve the use of fluoroscopy (e.g., delivered via a C-arm) and other forms of radiation-based imaging modalities to provide intracavitary guidance to the operating physician. In contrast, the robotic system envisioned in this disclosure can provide radiation-free navigation and positioning, reducing physician exposure to radiation and the amount of equipment required in the operating room. As used herein, the term "positioning" can refer to determining and / or monitoring the location of an object in a reference coordinate system. Techniques such as preoperative mapping, computer vision, real-time EM tracking, and robot command data can be used individually or in combination to achieve a radiation-free operating environment. In other cases where radiation-based imaging modalities are still used, preoperative mapping, computer vision, real-time EM tracking, and robot command data can be used individually or in combination to improve upon information obtained solely through radiation-based imaging modalities.

[0114] Figure 20 This is a block diagram illustrating a positioning system 90 for estimating the position of one or more components of a robotic system (such as the position of a machine) according to an example embodiment. The positioning system 90 may be one or more computer devices configured to execute one or more instructions. The computer devices may be embodied by a processor (or multiple processors) and computer-readable storage among the components discussed above. By way of example and not limitation, the computer devices may be located in... Figure 1 Tower 30 shown Figures 1 to 4 The cart shown Figures 5 to 14 The bed, etc. shown.

[0115] like Figure 20 As shown, the positioning system 90 may include a positioning module 95 that processes input data 91-94 to generate position data 96 for the distal tip of the medical device. The position data 96 may be data or logic representing the position and / or orientation of the distal tip of the device relative to a reference frame. The reference frame may be relative to the patient's anatomy or a known object (such as an EM field generator) (see the discussion of EM field generators below).

[0116] The various input data are now described in more detail 91-94. Preoperative mapping can be accomplished using a collection of low-dose CT scans. The preoperative CT scans are reconstructed into three-dimensional images, which are visualized, for example, as “slices” of cross-sectional views of the patient’s internal anatomy. When analyzed in whole, image-based models of the anatomical cavities, spaces, and structures of the patient’s anatomical structures, such as the patient’s lung network, can be generated. Techniques such as centerline geometry can be determined and approximated from CT images to form a three-dimensional volume of the patient’s anatomy, which is referred to as model data 91 (also referred to as “preoperative model data” when generated using only preoperative CT scans). The use of centerline geometry is discussed in U.S. Patent Application No. 14 / 523,760, the contents of which are incorporated herein by reference in their entirety. Network topology models can also be derived from CT images and are particularly well-suited for bronchoscopy.

[0117] In some implementations, the instrument may be equipped with a camera to provide visual data 92. The positioning module 95 can process the visual data to enable one or more vision-based position tracking methods. For example, preoperative model data can be used in conjunction with visual data 92 to enable computer vision-based tracking of a medical instrument (e.g., an endoscope or an instrument that propels through the working channel of an endoscope). For example, using preoperative model data 91, the robotic system can generate a library of expected endoscopic images based on the model, with each image linked to a location within the model, based on the expected path of the endoscope's movement. During surgery, the robotic system can refer to this library to compare real-time images captured at a camera (e.g., a camera at the distal end of the endoscope) with those images in the image library to aid in positioning.

[0118] Other computer vision-based tracking techniques use feature tracking to determine camera motion, and thus endoscope motion. Some features of the localization module 95 can identify circular geometries corresponding to anatomical cavities in the preoperative model data 91 and track changes in those geometries to determine which anatomical cavity has been selected, as well as track the relative rotation and / or translational motion of the camera. The use of a topology map can further enhance vision-based algorithms or techniques.

[0119] Optical flow (another computer vision-based technique) can analyze the displacement and translation of image pixels in a video sequence within visual data 92 to infer camera movement. Examples of optical flow techniques can include motion detection, object segmentation calculation, brightness, motion compensation coding, stereo parallax measurement, and more. Through multiple iterations and comparisons of multiple frames, the movement and position of the camera (and therefore the endoscope) can be determined.

[0120] The positioning module 95 can use real-time EM tracking to generate the real-time position of the endoscope in a global coordinate system that can be registered to the patient's anatomy represented by a preoperative model. In EM tracking, an EM sensor (or tracker), including one or more sensor coils embedded in one or more locations and orientations within the medical instrument (e.g., an endoscopic tool), measures changes in the EM field generated by one or more static EM field generators positioned at known locations. The positional information detected by the EM sensor is stored as EM data 93. The EM field generator (or transmitter) can be placed close to the patient to generate a low-intensity magnetic field detectable by the embedded sensor. The magnetic field induces a small current in the sensor coil of the EM sensor, which can be analyzed to determine the distance and angle between the EM sensor and the EM field generator. These distances and orientations can be "registered" to the patient's anatomy (e.g., a preoperative model) during surgery to determine the geometric transformations that align a single location in the coordinate system with its position in the preoperative model of the patient's anatomy. Once registered, an embedded EM tracker in one or more locations of the medical device (e.g., the distal tip of an endoscope) can provide real-time indication of the medical device’s progress through the patient’s anatomy.

[0121] Robot commands and kinematic data 94 can also be used by the positioning module 95 to provide orientation data 96 for the robotic system. Device pitch and yaw from joint movement commands can be determined during preoperative calibration. During surgery, these calibration measurements can be combined with known insertion depth information to estimate the instrument's positioning. Alternatively, these calculations can be analyzed in conjunction with EM, vision, and / or topology modeling to estimate the medical device's positioning within the network.

[0122] like Figure 20 As shown, the positioning module 95 can use multiple other input data. For example, although in Figure 20 Although not shown, the device using shape sensing fibers can provide shape data, which the positioning module 95 can use to determine the position and shape of the device.

[0123] The localization module 95 can use the input data 91-94 in combination. In some cases, such combination can use a probabilistic method, where the localization module 95 assigns confidence weights to the location determined based on each of the input data 91-94. Therefore, in cases where the EM data may be unreliable (e.g., in the presence of EM interference), the confidence of the location determined by the EM data 93 may be reduced, and the localization module 95 may rely more heavily on the visual data 92 and / or robot commands and kinematic data 94.

[0124] As discussed above, the robotic systems discussed in this paper can be designed to combine one or more of the above technologies. The computer-based control system of a robotic system located in a tower, bed, and / or trolley can store computer program instructions in, for example, a non-transitory computer-readable storage medium (such as a permanent magnetic storage drive, a solid-state drive, etc.). When executed, these computer program instructions cause the system to receive and analyze sensor data and user commands, generate control signals for the entire system, and display navigation and positioning data, such as the instrument's orientation in a global coordinate system and anatomical diagrams.

[0125] 2. Surgical instruments As mentioned above, some standard laparoscopic or other surgical instruments include a tool driver adapter that allows the instrument to interface with a robotic system and a separate user interaction device that allows clinicians to control the functions of the surgical instruments and / or the robotic system. Therefore, in some applications, certain standard laparoscopic or surgical instruments may be longer than instruments designed for manual use. In some applications, relatively long laparoscopic or other surgical instruments may be difficult for clinicians to handle and may not be suitable for standardized trays or compartments used in sterilization processes.

[0126] Therefore, it is desirable to reduce the overall length of laparoscopic or surgical instruments while maintaining the operating length of the instrument shaft, allowing for ease of handling and enabling sterilization using standardized procedures. According to some embodiments described herein, the overall length of surgical instruments can be shortened without reducing the operating length of the instrument by removing the additional length of a separate user interaction device attached to the end of the instrument shaft. According to some embodiments described herein, the user interaction device can be combined with a tool drive adapter, thereby eliminating the separate user interaction device and thus reducing the overall instrument length while maintaining the desired operating length or shaft length.

[0127] However, in some applications, accurately detecting user input (e.g., button presses) can be challenging when the user interaction device is moved to or combined with the tool drive adapter. In some applications, because the tool drive adapter is configured to withstand sterilization procedures, certain conventional electronic arrangements for detecting user input may not be suitable within the tool drive adapter. For example, certain conventional electronic arrangements for detecting user input may not withstand sterilization procedures, or sealing or isolation sections across the tool drive adapter may not function.

[0128] Therefore, according to some embodiments described herein, it may be desirable to utilize sterilizable components such as buttons or other user inputs, and to place the electrical components for detecting user input (e.g., button presses) within a sealed compartment, such as within a sealed instrument shaft. In some applications, reliably detecting user input (e.g., the state of a button on the tool drive adapter) while the instrument shaft is rotating may be challenging because the instrument shaft can rotate relative to the tool drive adapter and the button (or other user input).

[0129] Advantageously, the embodiments described herein address the challenges described herein and provide laparoscopic or other surgical instruments for use with robotic systems that provide a reduced overall length while maintaining the desired operating length, and allow for reliable detection of user input.

[0130] Figure 21 A partial perspective view of a laparoscope 200 according to some embodiments is illustrated. As described herein, the laparoscope 200 facilitates therapeutic intervention by providing a view of the internal surgical site during surgical procedures. In the depicted example, the laparoscope 200 includes a camera or other suitable optics for viewing the site positioned at the end of an instrument shaft 204. During the procedure, the instrument shaft 204 can be advanced, manipulated, and / or rotated to position the camera and instrument shaft 204 relative to the patient in a desired location. In some embodiments, the laparoscope 200 may include surgical tools or instruments for performing surgical procedures. Optionally, the instrument shaft 204 can be manipulated or rotated to perform surgical procedures. The instrument shaft 204 may be at least partially formed of stainless steel.

[0131] In some embodiments, the laparoscope 200 can be coupled to a robotic surgical system, such as the system described herein, by attaching a tool drive adapter 210 to a mating portion of the robotic surgical system. As shown, the housing 202 of the tool drive adapter 210 can be configured to mate with a complementary portion of the robotic surgical system. During operation, the instrument axis 204 can rotate relative to both the tool drive adapter 210 and the robotic surgical system.

[0132] In the depicted example, the laparoscope 200 may include one or more user interaction elements or buttons 212a, 212b, 212c to allow clinicians to control the operation of the laparoscope and / or the functionality of the attached robotic system. During operation, the electronics of the laparoscope 200 may detect when buttons 212a, 212b, 212c are pressed or released and provide corresponding signals to the laparoscope 200 or other parts of the attached robotic system. Optionally, the laparoscope 200 may include more or fewer user interaction elements or buttons.

[0133] As shown in the figure, user interaction elements or buttons 212a, 212b, 212c can be disposed on or otherwise integrated with the housing 202 of the tool drive adapter 210. In some applications, by combining or integrating buttons 212a, 212b, 212c with or to the tool drive adapter 210, embodiments of the laparoscope 200 can eliminate the need for a separate user interaction portion attached to the end of the instrument shaft 204, thereby reducing the overall length of the laparoscope 200 while maintaining the effective operating length of the instrument shaft 204. Advantageously, by reducing the overall length of the laparoscope 200 compared to some conventional laparoscopes, the laparoscope 200 can be more easily handled and allows for sterilization using standardized procedures.

[0134] In some embodiments, signals from buttons 212a, 212b, 212c can be provided to the laparoscope 200 and / or a portion of the robotic system via connector 206. In some embodiments, video signals and / or control signals can be sent to or from the laparoscope 200 via connector 206.

[0135] Figure 22 Examples Figure 21 A partial perspective view of the laparoscope 200, in which the housing 202 is shown with hidden lines. Figure 23 Examples Figure 21 A perspective view of the sensor array 220 of the laparoscopy. (Reference) Figure 22 and Figure 23 As shown in the figure, the laparoscope 200 includes a sensor array 220 to detect the position or state of one or more buttons 212a, 212b, 212c.

[0136] In the depicted example, sensor array 220 can wirelessly detect the position, actuation, or state of buttons 212a, 212b, 212c. In some embodiments, sensor array 220 can detect changes in the magnetic field to determine the state of buttons 212a, 212b, 212c. In the depicted example, buttons 212a, 212b, 212c may include or be coupled to magnetic elements 214a, 214b, 214c such that the magnetic field experienced by sensor array 220 changes as buttons 212a, 212b, 212c are pressed, released, or otherwise actuated. Advantageously, because buttons 212a, 212b, 212c do not contain any active electronic components (i.e., passive components), buttons 212a, 212b, 212c can withstand sterilization processes, thereby allowing sterilization of tool drive adapter 210. In some applications, certain conventional electronic or active user interaction device components may not be able to withstand sterilization procedures.

[0137] In the depicted example, sensor array 220 includes one or more array components 230a, 230b, 230c to detect actuation or state changes of corresponding buttons 212a, 212b, 212c by detecting changes in the magnetic fields of corresponding magnetic elements 214a, 214b, 214c. As shown, each array component 230a, 230b, 230c can be aligned with the corresponding magnetic elements 214a, 214b, 214c to detect the state of the corresponding buttons 212a, 212b, 212c. For example, each array component 230a, 230b, 230c can be aligned with the corresponding magnetic elements 214a, 214b, 214c along the rotation axis of the instrument axis 204 to detect the state of the buttons 212a, 212b, 212c. Optionally, the sensor array may include more or fewer array components corresponding to the number of user interaction device elements or buttons.

[0138] Optionally, array components 230a, 230b, and 230c can be coupled together to maintain alignment between array components 230a, 230b, and 230c and their respective magnetic elements 214a, 214b, and 214c, and / or other array components. For example, array components 230a, 230b, and 230c can be coupled together using bolts or shafts 224 and secured with fasteners 226. In some embodiments, array components 230a, 230b, and 230c can be electrically coupled together via connectors or wires 222.

[0139] As shown in the figure, sensor array 220 is disposed within instrument shaft 204. In some embodiments, sensor array 220 is sealed, isolated, or otherwise enclosed within instrument shaft 204 without compromising the integrity of or otherwise damaging instrument shaft 204. Advantageously, because the components of sensor array 220 are disposed or otherwise isolated within instrument shaft 204, sensitive electronic components are protected from certain conditions that may be present during the sterilization process, thereby allowing sterilization of instrument shaft 204. As described herein, certain conventional electronic components or arrangements used for detecting user input may not withstand sterilization processes or the sealing or isolation portions across tool drive adapters may not function.

[0140] In the depicted example, sensor array 220 can rotate with instrument axis 204, thereby allowing sensor array 220 to rotate relative to housing 202 and buttons 212a, 212b, 212c. As described herein, embodiments of sensor array 220 can detect changes in the magnetic field to determine the state of buttons 212a, 212b, 212c as sensor array 220 rotates relative to buttons 212a, 212b, 212c.

[0141] Figure 24 Examples Figure 23 A partial exploded view of the sensor array 220. Figure 25 Examples Figure 23 Front view of array component 230 of sensor array 220. Figure 26 Examples Figure 25 Side front view of array component 230. (Reference) Figures 24 to 26 In some embodiments, each array component 230a, 230b, 230c (generally referred to as array component 230) includes one or more sensors 240 to detect the state of the corresponding buttons 212a, 212b, 212c. In some embodiments, the sensor 240 may include a reed switch, a Hall effect sensor, and / or a capacitive touch sensor.

[0142] In the depicted example, array component 230 may include one or more sensors 240 to detect changes in the magnetic field of magnetic elements (e.g., magnetic elements 214a, 214b, 214c, typically referred to as magnetic element 214), thereby detecting the position of user input or buttons (e.g., buttons 212a, 212b, 212c, typically referred to as button 212). During operation, one or more sensors 240 may change state (e.g., from an open state to a closed state) in response to user input or button 212 being pressed to provide a corresponding signal to the laparoscope 200 or a connected robotic system. For example, one or more sensors 240 may change from an open state to a closed state when the corresponding button 212 is pressed, and one or more sensors may change from a closed state to an open state when the corresponding button 212 is released. In some applications, an open state may correspond to an open circuit, and a closed state may correspond to a closed circuit.

[0143] In some embodiments, sensor 240 may be a reed switch configured to move between a first state, such as an open state (i.e., open circuit), and a second state, such as a closed state (i.e., closed circuit), in response to an applied magnetic field or magnetomotive force. In some embodiments, reed switch sensor 240 may have a magnetomotive force threshold, wherein sensor 240 moves from an open state to a closed state in response to a magnetomotive force experienced by sensor 240. For example, when button 212 and the corresponding magnetic element 214 are pressed or actuated, reed switch sensor 240 may move or change to a closed state such that magnetic element 214 provides a sufficient magnetic field or magnetomotive force to actuate or influence reed switch sensor 240 into a closed state or position. Furthermore, reed switch sensor 240 may be configured to be in an open state when button 212 and the corresponding magnetic element 214 are in a resting position, such that magnetic element 214 does not provide a sufficient magnetic field or magnetomotive force to actuate or influence reed switch sensor 240 into a closed state or position. Advantageously, the use of reed switches does not require any standby power to detect button presses.

[0144] In some applications, the magnetomotive force (MTF) threshold of the reed switch sensor 240 can be adjusted such that the sensor 240 is in an open state when the button 212 and the corresponding magnetic element 214 are in a rest position, and in a closed state when the button 212 and the corresponding magnetic element 214 are in a depressed or actuated position. In some embodiments, the MMF threshold of the reed switch sensor 240 can be adjusted by changing or specifying parameters of the reed switch sensor 240. In some embodiments, the size or strength of the magnetic element 214 can be configured to provide a MMF below the MMF threshold when the button 212 is in a rest position, and a MMF above the MMF threshold when the button 212 is in an actuated position. In some embodiments, the spacing and / or orientation of the magnetic element 214 and / or the sensor 240 can be adjusted or modified such that the effective MMF applied to the sensor 240 is below the MMF threshold when the button 212 is in a rest position, and the effective MMF applied to the sensor 240 is above the MMF threshold when the button 212 is in an actuated position. In some implementations, the sensor 240 may be positioned relative to the printed circuit board 232 in a side, longitudinal, lateral, rotational, and / or inverted orientation.

[0145] In the depicted example, each array component 230 may include a plurality of sensors 240 arranged in 242 to allow the array component 230 to detect the state of the corresponding button 212 when the array component 230 of the sensor array 220 rotates with the instrument axis 204 and relative to the corresponding button 212. In some embodiments, the sensors 240 and / or corresponding magnetic elements 214 of the array component 230 may be configured such that when the array component 230 of the sensor array 220 rotates with the instrument axis 204 and relative to the corresponding button 212, at least one sensor 240 accurately detects and indicates the state of the corresponding button 212.

[0146] As shown, the array component 230 may include a plurality of sensors 240 arranged in 242 such that, during rotation, at least one sensor 240 adjacent to the magnetic element 214 experiences a magnetic field or magnetomotive force sufficient to exceed a magnetomotive force threshold of the sensor 240, and moves or changes to a closed state when the button 212 and the corresponding magnetic element 214 are pressed or actuated. In some embodiments, during rotation of the array component 230, the plurality of sensors 240 adjacent to the magnetic element 214 may exceed a magnetomotive force threshold, and move to a closed state when the button 212 is pressed or actuated. During operation, one or more sensors 240 in the closed state may change as the instrument axis 204 rotates when the button 212 is pressed or actuated.

[0147] In some embodiments, arrangement 242 can be configured such that when button 212 and corresponding magnetic element 214 are in a rest or unacted position, at least one sensor 240 will not experience a magnetomotive force sufficient to exceed the magnetomotive force threshold of sensor 240, thus remaining in an open state. In some applications, the arrangement 242 of sensors 240 can prevent all sensors 240 from being placed in a closed position when the corresponding button 212 is in a rest or unacted position. During operation, one or more sensors 240 in the open state when button 212 is in the rest position can change with rotation of instrument axis 204. Therefore, according to some embodiments, when button 212 is pressed, at least one sensor 240 can be changed to a closed state, and when button 212 is in the rest position, at least one sensor 240 can be changed to an open state.

[0148] As shown, sensors 240 can be positioned on printed circuit board 232 in arrangement 242. In some embodiments, sensors 240 are arranged in a circular arrangement 242. In some embodiments, sensors 240 can be equidistantly spaced around the circumference of printed circuit board 232. Optionally, a first set of sensors 240 can be arranged in arrangement 242 on a first surface 231 of printed circuit board 232. In some embodiments, a second set of sensors 240 can be arranged in arrangement 242' on a second surface 233 of printed circuit board 232. In some embodiments, a second arrangement 242' of sensors 240 is interposed between the first arrangements 242 of sensors 240. In some embodiments, sensors 240 are positioned between an edge 236 of printed circuit board 232 and a cavity or opening 234. Printed circuit board 232 can have a generally circular, annular, or ring-shaped shape. Optionally, printed circuit board 232 can define a channel 238 to allow shaft 226 to pass through and secure the array component 230 to the printed circuit board 232.

[0149] In some embodiments, arrangement 242 may include six sensors 240, and arrangement 242' may include five sensors 240. Optionally, the eleven sensors 240 may be evenly spaced (approximately every 32 degrees) to minimize the angular spacing between the sensors 240, thereby maximizing the number of sensors 240 capable of detecting the magnetomotive force of the corresponding magnetic element 214 when button 212 is actuated. In some embodiments, array component 230 may include additional sensors 240 to further minimize the angular spacing between the sensors 240. Optionally, the number of sensors 240 utilized by array component 230 may vary.

[0150] In some embodiments, other aspects of the array element 230 and / or the corresponding magnetic element 214 can be configured such that when the array element 230 of the sensor array 220 rotates together with the instrument axis 204 and relative to the corresponding button 212, at least one sensor 240 accurately detects and indicates the state of the corresponding button 212. For example, parameters of the sensor 240 can be changed or specified to adjust the magnetomotive force threshold of the sensor 240 such that at least one sensor 240 accurately detects and indicates the state of the corresponding button 212 during rotation of the array element 230. In another example, the size, strength, or other parameters of the magnetic element 214 can be changed or specified to adjust the magnetomotive force applied to the sensor 240 such that at least one sensor 240 accurately detects and indicates the state of the corresponding button 212 during rotation of the array element 230. In some embodiments, the spacing and / or orientation of the magnetic element 214 and / or the sensor 240 can be adjusted or modified to adjust the magnetomotive force applied to the sensor 240 such that at least one sensor 240 accurately detects and indicates the state of the corresponding button 212 during rotation of the array element 230.

[0151] Furthermore, in some applications, the range of motion of button 212 and / or magnetic element 214 can be adjusted to modify the magnetomotive force applied to one or more sensors 240 when button 212 is in a stationary position and the magnetomotive force applied to one or more switches when button 212 is actuated, such that at least one sensor 240 accurately detects and indicates the state of the corresponding button 212 during rotation of array component 230. In some embodiments, the range of motion of magnetic element 214 can be adjusted relative to the axis of rotation of instrument axis 204 to increase the difference between the applied magnetomotive force applied to sensor 240 when button 212 is in an inactive state and the applied magnetomotive force applied to sensor 240 when button 212 is actuated. In some embodiments, the range of motion of button 212 can be reduced to provide a desired system response.

[0152] In some embodiments, the laparoscope 200 includes a controller for determining the state of buttons 212a, 212b, 212c. In some embodiments, the controller analyzes the state of sensors 240 in each of the array components 230a, 230b, 230c to determine the state of each of the corresponding buttons 212a, 212b, 212c. In some applications, the controller uses a lookup table or algorithmic method to compare the state of each sensor 240 to determine the state of the corresponding button 212. In some applications, the controller may monitor the movement of a single sensor 240 of the array component 230 to a closed state to determine that the corresponding button 212 has been pressed. Optionally, the controller may monitor the movement of multiple or a number of sensors 240 to a closed state to determine that the corresponding button 212 has been pressed. In some applications, the controller may monitor changes in the state of the sensors 240 to determine whether the corresponding button 212 has been pressed or released. In some applications, the controller may filter sensors 240 that may be in a closed state when the button 212 is in a resting position. For example, the controller can determine the “baseline” state of each sensor 240 of the corresponding array component 230 (e.g., during the initialization process) to determine whether any sensor 240 is in a closed state when the button 212 is in a stationary position, and monitor the sensor 240 identified as being in an initially open state to change to a closed state to determine when the button 212 is pressed.

[0153] Figure 27 A perspective view of a sensor array 420 according to some implementation schemes is shown. Figure 28 Examples Figure 27 A perspective view of part of the sensor array 420. Figure 29 Examples Figure 27 Front view of the printed circuit board 472 of the sensor array 420. Figure 30 Examples Figure 27 Side front view of printed circuit board 472. (Reference) Figures 27 to 30 In some embodiments, the laparoscope may utilize sensor array 420 to detect the position or state of one or more buttons. In some embodiments, certain features of sensor array 420 may be similar to features of sensor array 220 and may be referenced using similar reference numerals.

[0154] In the depicted example, sensor array 420 can wirelessly detect the position, actuation, or state of buttons on a laparoscope or other surgical instrument. In some embodiments, sensor array 420 can detect changes in a magnetic field to determine the state of the button. In the depicted example, sensor array 420 includes one or more sensor groups 430a, 430b, 430c to detect actuation or state changes of corresponding buttons by detecting changes in the magnetic field of corresponding magnetic elements. As shown, each sensor group 430a, 430b, 430c can be aligned with a corresponding magnetic element to detect the state of the corresponding button. For example, each sensor group 430a, 430b, 430c can be aligned with a corresponding magnetic element along the axis of rotation of the instrument axis to detect the state of the corresponding button. Optionally, sensor array 420 may include more or fewer sensor groups corresponding to the number of user interaction device elements or buttons.

[0155] Similar to sensor array 220, sensor array 420 may be disposed within an instrument shaft (such as instrument shaft 204 as described herein). In some embodiments, sensor array 420 is sealed, isolated, or otherwise enclosed within the instrument shaft without compromising its integrity or otherwise damaging the instrument shaft. In the depicted example, sensor array 420 may rotate with the instrument shaft, thereby allowing sensor array 420 to rotate relative to the button. As described herein, embodiments of sensor array 420 may detect changes in the magnetic field to determine the state of the button as sensor array 420 rotates relative to the button.

[0156] In some embodiments, each sensor group 430a, 430b, 430c includes one or more sensors 440a, 440b, 440c to detect the state of the corresponding button. In some embodiments, sensors 440a, 440b, 440c may include reed switches, Hall effect sensors, and / or capacitive touch sensors.

[0157] In the depicted example, each sensor group 430a, 430b, 430c is configured to detect changes in the magnetic field of a magnetic element (e.g., magnetic elements 214a, 214b, 214c) to detect user input or the position of a button (e.g., buttons 212a, 212b, 212c). During operation, one or more sensors 440a, 440b, 440c in each sensor group 430a, 430b, 430c may change state (e.g., from an open state to a closed state) in response to user input or button press to provide a corresponding signal to the laparoscope or a connected robotic system. As described with respect to sensor array 220, sensors 440a, 440b, 440c may be reed switches configured to move between a first state, such as an open state (i.e., open circuit), and a second state, such as a closed state (i.e., closed circuit), in response to an applied magnetic field or magnetomotive force.

[0158] In the depicted example, each sensor group 430a, 430b, 430c may include multiple sensors 440a, 440b, 440c to allow each sensor group 430a, 430b, 430c to detect the state of the corresponding button when the sensor group 430a, 430b, 430c rotates with the instrument axis and relative to the corresponding button. In some embodiments, the sensors 440a, 440b, 440c and / or corresponding magnetic elements of the sensor groups 430a, 430b, 430c may be configured such that when the sensor groups 430a, 430b, 430c of the sensor array 420 rotate with the instrument axis and relative to the corresponding button, at least one sensor 440a, 440b, 440c from each sensor group 430a, 430b, 430c accurately detects and indicates the state of the corresponding button.

[0159] Similar to the implementation described with respect to sensor array 220, each sensor group 430a, 430b, 430c may include a plurality of sensors 440a, 440b, 440c arranged such that at least one sensor 440a, 440b, 440c adjacent to a corresponding magnetic element from each sensor group 430a, 430b, 430c experiences a magnetic field or magnetomotive force sufficient to exceed the magnetomotive force threshold of sensor 440a, 440b, 440c during rotation, and moves or changes to a closed state when the button and the corresponding magnetic element are pressed or actuated.

[0160] As shown in the figure, the sensors 440a, 440b, and 440c of each sensor group 430a, 430b, and 430c can be arranged around a central rotation axis. In some embodiments, the sensors 440a, 440b, and 440c of each sensor group 430a, 430b, and 430c are arranged circumferentially around the central rotation axis. As shown in the figure, each sensor group 430a, 430b, and 430c is axially spaced along the central rotation axis.

[0161] In the depicted example, sensors 440a, 440b, 440c from each sensor group 430a, 430b, 430c are disposed on multiple printed circuit boards 472. In some embodiments, as shown, one sensor 440a, 440b, 440c from each respective sensor group 430a, 430b, 430c is disposed on a single printed circuit board 472. In other words, sensors 440a, 440b, 440c from different sensor groups are disposed on a common printed circuit board 472 and share a common angular alignment relative to the axis of rotation. In some embodiments, sensors 440a, 440b, 440c may be disposed on a radial surface of the printed circuit board 472. The printed circuit board 472 may have a generally elongated or slatted shape. In the depicted example, the printed circuit board 472 is circumferentially arranged about a central axis of rotation.

[0162] As shown, a printed circuit board 472 can be coupled to a backplane 460. In the depicted example, the printed circuit board 472 may include a connector 450 for mechanical coupling to a mating connector 454 of the backplane 460. As shown, the connector 450 may also facilitate electrical communication between sensors 440a, 440b, 440c disposed on the printed circuit board 472 and the backplane 460 via the connector 454. The printed circuit board 472 may include traces or conductors 452 to facilitate electrical connections between sensors 440a, 440b, 440c via the printed circuit board 472 and the connector 450. In some embodiments, the backplane 460 includes or defines a central cavity 464 and / or a channel 468 to facilitate the passage of wiring and / or hardware.

[0163] In some embodiments, each sensor group 430a, 430b, 430c may include nine sensors 440a, 440b, 440c disposed on nine printed circuit boards 472. In some embodiments, the sensors 440a, 440b, 440c of each sensor group 430a, 430b, 430c may be equidistantly spaced (approximately every 40 degrees) about the axis of rotation to minimize the angular spacing between the sensors 440a, 440b, 440c and maximize the number of sensors 440a, 440b, 440c capable of detecting the magnetomotive force of the corresponding magnetic element when the button is actuated. In some embodiments, the sensor groups 430a, 430b, 430c may include additional sensors 440a, 440b, 440c to further minimize the angular spacing between the sensors 440a, 440b, 440c. Optionally, the number of sensors 440a, 440b, and 440c utilized in each sensor group 430a, 430b, and 430c can vary. Therefore, in some embodiments, the number of corresponding printed circuit boards 472 and backplane connectors 454 can vary accordingly.

[0164] As described herein, sensor groups 430a, 430b, 430c and / or other aspects of the corresponding magnetic elements may be configured such that when sensor groups 430a, 430b, 430c of sensor array 420 rotate together with the instrument axis and relative to the corresponding button, at least one sensor 440a, 440b, 440c accurately detects and indicates the state of the corresponding button.

[0165] 3. Implementation System and Terminology The specific implementations disclosed herein can advantageously provide systems, methods, and apparatus that provide an increased level of safety for robots that interact with humans by allowing joints to be fully unlocked and repositioned even in the event of a complete electrical or software failure in the robot.

[0166] It should be noted that, as used herein, other variations of the term "connection" or the word "linkage" can indicate an indirect or direct connection. For example, if a first component is "connected" to a second component, the first component may be indirectly connected to the second component or directly connected to the second component via another component.

[0167] The methods disclosed herein include one or more steps or actions for implementing the described methods. The method steps and / or actions may be interchanged without departing from the scope of the claims. In other words, the order and / or use of specific steps and / or actions may be modified without departing from the scope of the claims unless the correct operation of the described method requires a specific order of steps or actions.

[0168] As used herein, the term "multiple" means two or more. For example, multiple components indicates two or more components. The term "determine" encompasses a variety of actions, and therefore, "determine" can include calculation, operation, processing, derivation, investigation, lookup (e.g., searching in a table, database, or another data structure), ascertainment, etc. Additionally, "determine" can include receiving (e.g., receiving information), accessing (e.g., accessing data in memory), etc. Furthermore, "determine" can include parsing, selecting, picking, building, etc.

[0169] Unless otherwise explicitly stated, the phrase “based on” does not mean “based on only”. In other words, the phrase “based on” describes both “based on only” and “based on at least”.

[0170] The foregoing description of the disclosed specific embodiments is provided to enable any person skilled in the art to make or use the invention. Various modifications to these specific embodiments will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other specific embodiments without departing from the scope of the invention. For example, it should be understood that those skilled in the art will be able to employ several corresponding alternative and equivalent structural details, such as equivalent means of fastening, mounting, connecting, or engaging tool components, equivalent mechanisms for generating specific actuating movements, and equivalent mechanisms for delivering electrical energy. Therefore, the invention is not intended to be limited to the specific embodiments shown herein, but is given the broadest scope consistent with the principles and novel features disclosed herein.

Claims

1. A sensor array for detecting the position of a magnetic element, the sensor array comprising: A printed circuit board, wherein the printed circuit board is configured to rotate about a rotation axis and relative to the magnetic element; and A plurality of sensors are circumferentially arranged around the axis of rotation and coupled to the printed circuit board, wherein at least one of the sensors, located at a selected circumferential position relative to the axis of rotation, is configured to change between an open state and a closed state in response to a change in the position of the magnetic element relative to the axis of rotation.

2. The sensor array according to claim 1, wherein each of the plurality of sensors is equidistant from each other.

3. The sensor array of claim 1, wherein the printed circuit board defines a circular profile.

4. The sensor array according to claim 1 further includes a second plurality of sensors, the second plurality of sensors being circumferentially arranged around the rotation axis and connected to the printed circuit board.

5. The sensor array of claim 4, wherein the plurality of sensors are disposed on a first surface of the printed circuit board, and the second plurality of sensors are disposed on an opposing second surface of the printed circuit board.

6. The sensor array of claim 5, wherein the sensors of the second plurality of sensors are interposed between the sensors of the plurality of sensors.

7. The sensor array of claim 1, wherein the printed circuit board comprises a plurality of elongated strips circumferentially arranged about the axis of rotation and configured to rotate about the axis of rotation and relative to the magnetic element, and each of the sensors is coupled to a corresponding elongated strip among the plurality of elongated strips.

8. The sensor array of claim 7, further comprising a second plurality of sensors coupled to a corresponding elongated strip among the plurality of elongated strips, wherein each of the sensors in the second plurality of sensors is laterally spaced from the corresponding sensor in the plurality of sensors along the axis of rotation, and at least one of the second plurality of sensors disposed at a selected circumferential position relative to the axis of rotation is configured to change between an open state and a closed state in response to a change in the position of the second magnetic element relative to the axis of rotation.

9. A surgical instrument comprising: Instrument axis; Tool driver adapter, the tool driver adapter comprising: A housing, the housing being disposed around a portion of the instrument shaft, wherein the instrument shaft is rotatable about a rotation axis relative to the housing; and An actuator, coupled to the housing, wherein actuation of the actuator controls the function of the surgical instrument; and A sensor array, disposed within the instrument axis, comprises: A printed circuit board, the printed circuit board being coupled to the interior of the instrument shaft and configured to rotate with respect to the actuator of the tool drive adapter about the axis of rotation; and A plurality of sensors are arranged circumferentially around the axis of rotation and coupled to the printed circuit board, wherein at least one of the plurality of sensors, located at a selected circumferential position relative to the axis of rotation, is configured to provide a signal corresponding to actuation of the actuator.

10. The surgical instrument of claim 9, wherein the plurality of sensors comprises a plurality of reed switches.

11. The surgical instrument of claim 9, further comprising a second plurality of sensors arranged circumferentially around the axis of rotation.

12. The surgical instrument of claim 9, wherein the plurality of sensors are disposed on a first surface of the printed circuit board, and a second plurality of sensors are disposed on an opposing second surface of the printed circuit board.

13. The surgical instrument of claim 12, wherein a sensor of the second plurality of sensors is inserted between the sensors of the plurality of sensors.

14. The surgical instrument of claim 9, wherein the tool drive adapter includes a second actuator coupled to the housing, and actuation of the second actuator controls a second function of the surgical instrument, and at least one of a second plurality of sensors disposed at a selected circumferential position relative to the axis of rotation is configured to provide a signal corresponding to actuation of the second actuator.

15. The surgical instrument of claim 9, wherein the instrument axis comprises a laparoscopic instrument.

16. The surgical instrument of claim 9, wherein the housing is configured to be attached to a robotic surgical system.

17. A surgical instrument comprising: Instrument axis; Tool driver adapter, the tool driver adapter comprising: A housing, the housing being disposed around a portion of the instrument shaft, wherein the instrument shaft is rotatable about a rotation axis relative to the housing; and An actuator, coupled to the housing, wherein actuation of the actuator controls the function of the surgical instrument; and A sensor array, disposed within the instrument axis, comprises: A plurality of elongated printed circuit boards, circumferentially arranged around the axis of rotation, are coupled to the interior of the instrument shaft and configured to rotate with the instrument shaft about the axis of rotation and relative to the actuator of the tool drive adapter; and A plurality of sensors, wherein each of the plurality of sensors is coupled to a corresponding elongated printed circuit board in a plurality of elongated circuit boards, wherein at least one of the plurality of sensors, located at a selected circumferential position relative to the axis of rotation, is configured to provide a signal corresponding to actuation of the actuator.

18. The surgical instrument of claim 17, wherein the sensor array further comprises a backplate coupled to the plurality of elongated printed circuit boards.

19. The surgical instrument of claim 17, wherein the tool drive adapter includes a second actuator coupled to the housing, and actuation of the second actuator controls a second function of the surgical instrument, and the sensor array further includes a second plurality of sensors coupled to corresponding elongated printed circuit boards in the plurality of elongated circuit boards, wherein each of the sensors in the second plurality of sensors is laterally spaced from the corresponding sensor in the plurality of sensors along the axis of rotation, and at least one of the second plurality of sensors disposed at a selected circumferential position relative to the axis of rotation is configured to provide a signal corresponding to actuation of the second actuator.

20. The surgical instrument of claim 17, wherein the plurality of sensors comprises a plurality of reed switches.

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